public void updateRobotConfigurationBasedOnFullRobotModel() {
for (int i = 0; i < revoluteJoints.size(); i++) {
ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJoint> jointPair = revoluteJoints.get(i);
OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
OneDoFJoint revoluteJoint = jointPair.getRight();
pinJoint.setQ(revoluteJoint.getQ());
}
FloatingJoint floatingJoint = rootJointPair.getLeft();
FloatingInverseDynamicsJoint sixDoFJoint = rootJointPair.getRight();
RigidBodyTransform transform = sixDoFJoint.getJointTransform3D();
floatingJoint.setRotationAndTranslation(transform);
}
@Override
public void write() {
for (int i = 0; i < revoluteJoints.size(); i++) {
ImmutablePair<OneDegreeOfFreedomJoint, OneDoFJoint> jointPair = revoluteJoints.get(i);
OneDegreeOfFreedomJoint pinJoint = jointPair.getLeft();
OneDoFJoint revoluteJoint = jointPair.getRight();
pinJoint.setTau(revoluteJoint.getTau());
}
}
@Override
public ImmutablePair<String, JSONObject> generate(
JSONObject constraints, YodaEnvironment yodaEnvironment) {
String hasQualityRole;
String prepositionClassString;
JSONObject child;
List<String> keys =
(List<String>)
constraints.keySet().stream().map(x -> (String) x).collect(Collectors.toList());
keys.remove("class");
hasQualityRole = keys.get(0);
JSONObject prepositionContent = (JSONObject) constraints.get(hasQualityRole);
prepositionClassString = (String) prepositionContent.get("class");
child =
SemanticsModel.parseJSON(
((JSONObject) prepositionContent.get(YodaSkeletonOntologyRegistry.inRelationTo.name))
.toJSONString());
QualityDegree prepositionClass = Ontology.qualityDegreeNameMap.get(prepositionClassString);
String ppString = null;
try {
ppString =
yodaEnvironment
.lex
.getPOSForClass(
prepositionClass, Lexicon.LexicalEntry.PART_OF_SPEECH.PREPOSITION, false)
.stream()
.findAny()
.get();
} catch (Lexicon.NoLexiconEntryException e) {
ppString = "of";
}
JSONObject ansJSON = SemanticsModel.parseJSON("{\"class\":\"" + prepositionClass.name + "\"}");
SemanticsModel.wrap(
ansJSON, YodaSkeletonOntologyRegistry.unknownThingWithRoles.name, hasQualityRole);
ImmutablePair<String, JSONObject> nestedPhrase =
NaturalLanguageGenerator.getAppropriatePhraseGenerationRoutine(child)
.generate(child, yodaEnvironment);
SemanticsModel.putAtPath(
ansJSON,
hasQualityRole + "." + YodaSkeletonOntologyRegistry.inRelationTo.name,
nestedPhrase.getRight());
String ansString = ppString + " " + nestedPhrase.getLeft();
return new ImmutablePair<>(ansString, ansJSON);
}
public boolean isCurrentTimeInSchedule() {
DateTime now = DateTime.now();
if (dayOfWeekRange != null && !dayOfWeekRange.contains(now.getDayOfWeek())) {
return false;
}
if (dayOfMonthRange != null && !dayOfMonthRange.contains(now.getDayOfMonth())) {
return false;
}
if (timeRange != null) {
Interval interval =
new Interval(
timeRange.getLeft().toDateTimeToday(), timeRange.getRight().toDateTimeToday());
if (!interval.contains(now)) {
return false;
}
}
return true;
}
protected void updateEntityActionState() {
super.updateEntityActionState();
if (!this.worldObj.isRemote) {
int i;
int j;
int k;
int i1;
if (this.allySummonCooldown > 0) {
--this.allySummonCooldown;
if (this.allySummonCooldown == 0) {
i = MathHelper.floor_double(this.posX);
j = MathHelper.floor_double(this.posY);
k = MathHelper.floor_double(this.posZ);
boolean flag = false;
for (int l = 0; !flag && l <= 5 && l >= -5; l = l <= 0 ? 1 - l : 0 - l) {
for (i1 = 0; !flag && i1 <= 10 && i1 >= -10; i1 = i1 <= 0 ? 1 - i1 : 0 - i1) {
for (int j1 = 0; !flag && j1 <= 10 && j1 >= -10; j1 = j1 <= 0 ? 1 - j1 : 0 - j1) {
if (this.worldObj.getBlock(i + i1, j + l, k + j1) == Blocks.monster_egg) {
if (!this.worldObj.getGameRules().getGameRuleBooleanValue("mobGriefing")) {
int k1 = this.worldObj.getBlockMetadata(i + i1, j + l, k + j1);
ImmutablePair immutablepair = BlockSilverfish.func_150197_b(k1);
this.worldObj.setBlock(
i + i1,
j + l,
k + j1,
(Block) immutablepair.getLeft(),
((Integer) immutablepair.getRight()).intValue(),
3);
} else {
this.worldObj.func_147480_a(i + i1, j + l, k + j1, false);
}
Blocks.monster_egg.onBlockDestroyedByPlayer(
this.worldObj, i + i1, j + l, k + j1, 0);
if (this.rand.nextBoolean()) {
flag = true;
break;
}
}
}
}
}
}
}
if (this.entityToAttack == null && !this.hasPath()) {
i = MathHelper.floor_double(this.posX);
j = MathHelper.floor_double(this.posY + 0.5D);
k = MathHelper.floor_double(this.posZ);
int l1 = this.rand.nextInt(6);
Block block =
this.worldObj.getBlock(
i + Facing.offsetsXForSide[l1],
j + Facing.offsetsYForSide[l1],
k + Facing.offsetsZForSide[l1]);
i1 =
this.worldObj.getBlockMetadata(
i + Facing.offsetsXForSide[l1],
j + Facing.offsetsYForSide[l1],
k + Facing.offsetsZForSide[l1]);
if (BlockSilverfish.func_150196_a(block)) {
this.worldObj.setBlock(
i + Facing.offsetsXForSide[l1],
j + Facing.offsetsYForSide[l1],
k + Facing.offsetsZForSide[l1],
Blocks.monster_egg,
BlockSilverfish.func_150195_a(block, i1),
3);
this.spawnExplosionParticle();
this.setDead();
} else {
this.updateWanderPath();
}
} else if (this.entityToAttack != null && !this.hasPath()) {
this.entityToAttack = null;
}
}
}
